Server<>

2026-10-23 15:23:34 +08:00 · 2014-03-12 13:02:28 +04:00
parent 629ed8c28e
commit 0f877dec88
3 changed files with 199 additions and 0 deletions
@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/internal/node/generic_publisher.hpp>
+#include <uavcan/internal/node/generic_subscriber.hpp>
+
+namespace uavcan
+{
+
+template <typename DataType_,
+          typename Callback = void(*)(const ReceivedDataStructure<typename DataType_::Request>&, typename DataType_::Response&),
+          unsigned int NumStaticReceivers = 2,
+          unsigned int NumStaticBufs = 1>
+class Server : public GenericSubscriber<DataType_, typename DataType_::Request, NumStaticReceivers, NumStaticBufs>
+{
+public:
+    typedef DataType_ DataType;
+
+private:
+    typedef GenericSubscriber<DataType, typename DataType::Request, NumStaticReceivers, NumStaticBufs> SubscriberType;
+    typedef GenericPublisher<DataType, typename DataType::Response> PublisherType;
+
+    PublisherType publisher_;
+    Callback callback_;
+    uint32_t response_failure_count_;
+    typename DataType::Response response_;
+
+    void handleReceivedDataStruct(ReceivedDataStructure<typename DataType::Request>& request)
+    {
+        if (try_implicit_cast<bool>(callback_, true))
+        {
+            response_ = typename DataType::Response();  // The application needs newly initialized structure
+            callback_(request, response_);
+        }
+        else
+            handleFatalError("Invalid server callback");
+
+        const int res = publisher_.publish(response_, TransferTypeServiceResponse, request.getSrcNodeID(),
+            request.getTransferID());
+        if (res <= 0)
+        {
+            UAVCAN_TRACE("Server", "Response publication failure: %i", res);
+            response_failure_count_++;
+        }
+    }
+
+public:
+    Server(Scheduler& scheduler, IAllocator& allocator, IMarshalBufferProvider& buffer_provider)
+    : SubscriberType(scheduler, allocator)
+    , publisher_(scheduler, buffer_provider)
+    , callback_()
+    , response_failure_count_(0)
+    {
+        StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindService>::check();
+    }
+
+    int start(Callback callback)
+    {
+        stop();
+
+        if (!try_implicit_cast<bool>(callback, true))
+        {
+            UAVCAN_TRACE("Server", "Invalid callback");
+            return -1;
+        }
+        callback_ = callback;
+
+        return SubscriberType::startAsServiceRequestListener();
+    }
+
+    using SubscriberType::stop;
+
+    uint32_t getRequestFailureCount() const { return SubscriberType::getFailureCount(); }
+    uint32_t getResponseFailureCount() const { return response_failure_count_; }
+};
+
+}